CN102647107B - Big stroke micro nanoscale linear actuator based on parasitic motion principle - Google Patents
Big stroke micro nanoscale linear actuator based on parasitic motion principle Download PDFInfo
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- CN102647107B CN102647107B CN201210114613.9A CN201210114613A CN102647107B CN 102647107 B CN102647107 B CN 102647107B CN 201210114613 A CN201210114613 A CN 201210114613A CN 102647107 B CN102647107 B CN 102647107B
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- linear actuator
- flexible hinge
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Abstract
The invention relates to a big stroke micro nanoscale linear actuator based on the parasitic motion principle, which can be used for realizing big stroke micro nanoscale high-precision linear positioning in the areas of precise and ultra-precise processing, micro gripping operations and scanning and imaging. The big stroke micro nanoscale linear actuator mainly comprises a forward driving unit, a rotor unit and a backward driving unit. The forward driving unit and the backward driving unit are symmetrically installed on a pedestal and the rotor unit is installed in a groove on the pedestal. The foliated structures at two sides of the rotor of the rotor unit are connected with the output ends of the forward driving unit and the backward driving unit through clearance fit. The actuator is compact in structure and convenient and fast to control. Based on the parasitic motion principle, the big stroke micro nanoscale linear actuator can realize the millimeter-sized big stroke and micro nanoscale high-precision linear positioning function. The big stroke micro nanoscale linear actuator has a good application prospect in the areas of precise and ultra-precise processing, micro gripping operations and scanning and imaging which require big strokes and high-precision positioning.
Description
Technical field
The present invention relates to a kind of large stroke micro/nano level linear actuator based on hunt effect principle, can be used for the fields such as precision and ultraprecise processing, micro-clamping operation, scanning imagery and realize large stroke micro/nano level high accuracy straight line location.
Background technology
Micro/nano level positioner is in scientific circles and industrial quarters is with a wide range of applications and demand.Piezoelectric actuator is a kind of as the typical case in micro/nano level positioner, in fields such as accurate and ultraprecise processing, atomic force microscope, scanning electron microscopy, micro nanometer mechanics test, micro-clampings, is bringing into play more and more important effect.Utilize at present the drive principle of piezoelectric drive element based on different, researcher has developed the different driver of morphology and function, more typically has piezoelectric stack direct-drive type driver, compliant mechanism driver, looper type driver, inertia starter and stick-slip formula driver etc.That piezoelectric stack direct-drive type driver has is simple in structure, response rapidly, the advantage such as high-resolution, but be subject to the restriction of piezoelectric stack output displacement stroke, the type driver output displacement is very limited.Compliant mechanism driver can be realized multifreedom motion easily, but structure and control are complicated, and stroke is less, and rigidity is lower.Looper type driver has advantages of large stroke and response fast, but its structure and control are complicated, high for processing and matching requirements in addition.Inertia starter often has simple structure and can realize large stroke and fast response, but the low drawbacks limit of its bearing capacity its use.Stick-slip formula driving implement has theoretical unlimited stroke, but its movement velocity is limited, and bearing capacity is also lower.In sum, development has large stroke, high accuracy, driver high-speed, high bearing capacity is still a difficult point at present.
Summary of the invention
The object of the present invention is to provide a kind of large stroke micro/nano level linear actuator based on hunt effect principle, solved the problems referred to above that prior art exists.The present invention is based on a kind of large stroke micro/nano level linear actuator of hunt effect principle design, for realizing large stroke and high precision location, provide a kind of available solutions.Based on hunt effect principle the type driver, can realize the large stroke of grade and micro/nano level hi-Fix.By drive principle provided by the invention, can the different large stroke and high precision piezoelectric actuator of design form, meet the different demands in the fields such as accurate and ultraprecise processing, micro-clamping operation, scanning imagery.
Above-mentioned purpose of the present invention is achieved through the following technical solutions:
Large stroke micro/nano level linear actuator based on hunt effect principle, comprises forward drive unit, mover unit and negative sense driver element, and described forward drive unit, mover unit and negative sense driver element are connected with pedestal 1 by screw respectively.
Described forward drive unit is comprised of positive movement piezoelectric stack 3 and positive movement flexible hinge 4, described positive movement flexible hinge 4 is connected with pedestal 1 by screw, and described positive movement piezoelectric stack 3 adopts tight fit mode to be arranged in the groove of positive movement flexible hinge 4.
Described negative sense driver element is comprised of negative movement piezoelectric stack 7 and negative movement flexible hinge 6, described negative movement flexible hinge 6 is connected with pedestal 1 by screw, and described negative movement piezoelectric stack 7 adopts tight fit mode to be arranged in the groove of negative movement flexible hinge 6.
Described mover unit is comprised of guide rail slide block assembly 2 and mover 5, and mover unit is connected with pedestal 1 by the installing hole on the guide rail of guide rail slide block assembly 2, and mover 5 is connected with the slide block of guide rail slide block assembly 2 by screw.
Matched in clearance is realized with the groove of forward drive unit and negative sense driver element output respectively by the flaky texture of mover 5 both sides in described mover unit.
The present invention is based on hunt effect principle, the type driver can be realized the large stroke of grade and micro/nano level hi-Fix.
Beneficial effect of the present invention is: simple in structure, compact, it is convenient to control, based on hunt effect principle, provide a kind of large stroke micro/nano level targeting scheme for fields such as accurate and ultraprecise processing, micro-clamping operation, scanning imageries, utilize the piezoelectric actuator of this alternatives formulation to there is the displacement stroke of theory unlimited, when the driving voltages of 100 volts and 5 hertz of driving frequencies, actuating speed reaches 40 micro-meter per seconds, changes the movement output that driving voltage and driving frequency can obtain different driving speed and resolution easily.Can be used for the fields such as precision and ultraprecise processing, micro-clamping operation, scanning imagery and realize large stroke micro/nano level high accuracy straight line location.Applied widely, practical.
Accompanying drawing explanation
Accompanying drawing described herein is used to provide a further understanding of the present invention, forms the application's a part, and illustrative example of the present invention and explanation thereof are used for explaining the present invention, do not form inappropriate limitation of the present invention.
Fig. 1 is the perspective view of the large stroke micro/nano level linear actuator based on hunt effect principle of the present invention;
Fig. 2 is the schematic diagram that elastomer distortion of the present invention produces hunt effect;
Fig. 3 the present invention is based on the schematic diagram that hunt effect principle realizes linear drives;
Fig. 4 the present invention is based on the sequencing control figure that hunt effect principle realizes linear drives;
Fig. 5 the present invention is based on the process schematic diagram that hunt effect principle realizes linear drives;
Fig. 6 is the schematic top plan view that the present invention is based on the large stroke micro/nano level linear actuator of hunt effect principle;
Fig. 7 is that the master who the present invention is based on the large stroke micro/nano level linear actuator of hunt effect principle looks schematic diagram;
Fig. 8 is that driver of the present invention is 3 hertz in driving frequency, the actual motion curve of output recording under different driving voltage magnitude;
Fig. 9 is that driver of the present invention is 100 volts in driving voltage amplitude, the actual motion curve of output recording under different driving electric voltage frequency.
In figure: 1, pedestal; 2, guide rail slide block assembly; 3, positive movement piezoelectric stack; 4, positive movement flexible hinge; 5, mover; 6, negative movement flexible hinge; 7, negative movement piezoelectric stack.
Embodiment
Below in conjunction with accompanying drawing, further illustrate detailed content of the present invention and embodiment thereof.
Shown in Fig. 1, Fig. 6 and Fig. 7, large stroke micro/nano level linear actuator based on hunt effect principle of the present invention, comprise forward drive unit, mover unit and negative sense driver element, described forward drive unit, mover unit and negative sense driver element are connected with pedestal 1 by screw respectively.
Described forward drive unit is comprised of positive movement piezoelectric stack 3 and positive movement flexible hinge 4, described positive movement flexible hinge 4 is connected with pedestal 1 by screw, and described positive movement piezoelectric stack 3 adopts tight fit mode to be arranged in the groove of positive movement flexible hinge 4.
Described negative sense driver element is comprised of negative movement piezoelectric stack 7 and negative movement flexible hinge 6, described negative movement flexible hinge 6 is connected with pedestal 1 by screw, and described negative movement piezoelectric stack 7 adopts tight fit mode to be arranged in the groove of negative movement flexible hinge 6.
Described mover unit is comprised of guide rail slide block assembly 2 and mover 5, and mover unit is connected with pedestal 1 by the installing hole on the guide rail of guide rail slide block assembly 2, and mover 5 is connected with the slide block of guide rail slide block assembly 2 by screw.
Matched in clearance is realized with the groove of forward drive unit and negative sense driver element output respectively by the flaky texture of mover 5 both sides in described mover unit.
The present invention is based on hunt effect principle, the type driver can be realized the large stroke of grade and micro/nano level hi-Fix.
Referring to Fig. 2, it is the schematic diagram that elastomer distortion produces hunt effect.Elastomer A does the used time and can produce strain being subject to external load F, causes output B to produce small movements, comprise along
xto motion Δ
xwith along
yto motion Δ
y.Utilize
xto motion Δ
x, this kind of structure has a wide range of applications in micro-clamping field.
xto motion Δ
xfor realizing the clamping to held object, and
yto motion Δ
yit is the additional movement causing due to elastomer A distortion.Because Δ
yto follow Δ
xproduce, so
yto motion Δ
ybe referred to as hunt effect.This kind of hunt effect applied and is harmful to for micro-clamping, and it can cause held object to produce slip, is unfavorable for the stability of clamping.Yet the present invention but utilizes this hunt effect to realize linear drives.
Referring to Fig. 3, be based on hunt effect principle, to realize the schematic diagram of linear drives.When elastomer distortion produces clamping movement Δ
xwith hunt effect Δ
ytime, first elastomer output produces normal pressure N to mover, and along with the increase of hunt effect, mover and elastomer output have relative motion trend, frictional force
f nproduce thereupon.Due to hunt effect Δ
yand frictional force
f nexistence, make mover along
yto producing rectilinear motion.
Referring to Fig. 4 and Fig. 5, illustrate based on hunt effect principle and realize linear drives detailed process.As shown in Figure 5, a complete motion process mainly comprises 6 steps: (a) from 0 to
t 1constantly, between mover and output, there is certain gap
δ, clamping movement Δ
xbe mainly used in compensate for clearance, in this period, mover does not contact with elastomer output; (b) exist
t 1constantly, mover initially contacts with elastomer output; (c) exist
t 1extremely
t 2constantly, along with elastomer is further out of shape, clamping movement Δ
xwith hunt effect Δ
yincrease.With reference to the accompanying drawings 3, mover is at hunt effect Δ
yand frictional force
f neffect under along
yto realizing small rectilinear motion; (d) exist
t 2constantly, elastomer reaches maximum distortion, and mover also reaches single step maximum displacement
s; (e) exist
t 2extremely
tconstantly, elastomer progressively restPoses, but its output still contacts with mover, cause mover along
yto there being certain negative movement, be designated as
s 0; (f) exist
tconstantly, elastomer restPoses, for next motion cycle is prepared.In a motion cycle, the displacement of single step effective exercise
s efor
s e=
s-
s 0.Repeat above 6 steps, can realize the motion of mover continuous linear.By changing driving voltage frequency and amplitude, can obtain different actuating speeds and displacement resolution.
Referring to Fig. 6 and Fig. 7, when thering is the driving voltage of certain amplitude and frequency and be applied to forward piezoelectric stack 3, forward piezoelectric stack 3 will extend under the effect of piezoelectric effect, by compliant mechanism transmission, finally drive positive movement flexible hinge 4 to produce clamping movement and hunt effects, thus drive mover 5 realize along
yto rectilinear motion.By symmetrical structural design, this linear actuator can realize along
yto forward and negative movement.To piezoelectric stack, apply the driving voltage with certain amplitude and frequency continuously, mover 5 can be along
yto continuous, large stroke motion.
Referring to Fig. 8, be that the present invention is 3 hertz in driving frequency, the actual motion curve of output recording under different driving voltage magnitude.Accompanying drawing 9 is that the present invention is 100 volts in driving voltage amplitude, the actual motion curve of output recording under different driving electric voltage frequency.When 5 hertz of 100 volts of driving voltages, frequency, actuating speed surpasses 40 micro-meter per seconds.
The foregoing is only preferred embodiment of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (2)
1. the large stroke micro/nano level linear actuator based on hunt effect principle, it is characterized in that: comprise forward drive unit, mover unit and negative sense driver element, described forward drive unit, mover unit and negative sense driver element are connected with pedestal (1) by screw respectively;
Described forward drive unit is comprised of positive movement piezoelectric stack (3) and positive movement flexible hinge (4), described positive movement flexible hinge (4) is connected with pedestal (1) by screw, and described positive movement piezoelectric stack (3) adopts tight fit mode to be arranged in the groove of positive movement flexible hinge (4);
Described negative sense driver element is comprised of negative movement piezoelectric stack (7) and negative movement flexible hinge (6), described negative movement flexible hinge (6) is connected with pedestal (1) by screw, and described negative movement piezoelectric stack (7) adopts tight fit mode to be arranged in the groove of negative movement flexible hinge (6);
Matched in clearance is realized with the groove of forward drive unit and negative sense driver element output respectively by the flaky texture of mover (5) both sides in described mover unit.
2. the large stroke micro/nano level linear actuator based on hunt effect principle according to claim 1, it is characterized in that: described mover unit is comprised of guide rail slide block assembly (2) and mover (5), mover unit is connected with pedestal (1) by the installing hole on the guide rail of guide rail slide block assembly (2), and mover (5) is connected with the slide block of guide rail slide block assembly (2) by screw.
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| CN102647107B true CN102647107B (en) | 2014-09-03 |
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Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102928306A (en) * | 2012-10-26 | 2013-02-13 | 吉林大学 | In-situ micro-nanometer mechanics testing and scoring machining integrated machine |
| CN103159166B (en) * | 2013-03-22 | 2015-08-05 | 吉林大学 | Based on the efficient microarray processing unit (plant) of parasitic motion principle |
| CN107786120B (en) * | 2017-11-21 | 2023-05-19 | 吉林大学 | Piezoelectric rotary positioning platform with macro-micro hybrid motion characteristics and control method |
| CN107834896B (en) * | 2017-12-25 | 2023-06-23 | 吉林大学 | Device and method for regulating output performance of parasitic principle piezoelectric driver by pre-friction force |
| CN108111052B (en) * | 2018-03-09 | 2024-03-05 | 吉林大学 | Piezoelectric positioning platform for coupling inchworm bionic and parasitic motion principle and control method |
| CN108923682B (en) * | 2018-08-08 | 2019-09-27 | 苏州大学 | A kind of driving of stick-slip is across the big stroke motion platform of scale |
| CN108923683B (en) * | 2018-08-13 | 2019-09-27 | 苏州大学 | A kind of across the scale precision movement platform of miniature stick-slip driving |
| CN109995268A (en) * | 2019-03-29 | 2019-07-09 | 广东工业大学 | The shared piezoelectricity stick-slip Drive And Its Driving Method for driving sufficient formula of dual drive |
| CN109818526B (en) * | 2019-04-02 | 2020-03-20 | 苏州大学 | Motion control method and device of stick-slip type inertia piezoelectric actuator |
| CN110707962A (en) * | 2019-09-12 | 2020-01-17 | 广东工业大学 | Piezoelectric inertia and piezoelectric worm and worm hybrid rotary driver |
| CN111130379B (en) * | 2020-01-16 | 2021-04-16 | 南京理工大学 | Cross-scale piezoelectric driving method and device |
| CN111203852B (en) * | 2020-01-16 | 2021-07-13 | 南京理工大学 | Positive stress electromagnetic drive micro-gripper |
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| CN1972106A (en) * | 2005-11-24 | 2007-05-30 | 富士能株式会社 | Driving device |
| US7459837B2 (en) * | 2006-12-20 | 2008-12-02 | The Boeing Company | Broadband energy harvester apparatus and method |
| CN202696500U (en) * | 2012-04-19 | 2013-01-23 | 吉林大学 | Large-stroke micro-nanoscale linear actuator based on parasitic motion principle |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1972106A (en) * | 2005-11-24 | 2007-05-30 | 富士能株式会社 | Driving device |
| US7459837B2 (en) * | 2006-12-20 | 2008-12-02 | The Boeing Company | Broadband energy harvester apparatus and method |
| CN202696500U (en) * | 2012-04-19 | 2013-01-23 | 吉林大学 | Large-stroke micro-nanoscale linear actuator based on parasitic motion principle |
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